EP4428646A4 - Dispositif d'estimation de position propre, véhicule autonome et procédé d'estimation de position propre - Google Patents

Dispositif d'estimation de position propre, véhicule autonome et procédé d'estimation de position propre

Info

Publication number
EP4428646A4
EP4428646A4 EP22889882.1A EP22889882A EP4428646A4 EP 4428646 A4 EP4428646 A4 EP 4428646A4 EP 22889882 A EP22889882 A EP 22889882A EP 4428646 A4 EP4428646 A4 EP 4428646A4
Authority
EP
European Patent Office
Prior art keywords
self
position estimation
driving vehicle
autonomously driving
estimation method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22889882.1A
Other languages
German (de)
English (en)
Other versions
EP4428646A1 (fr
Inventor
Mai EMOTO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IHI Corp
Original Assignee
IHI Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by IHI Corp filed Critical IHI Corp
Publication of EP4428646A1 publication Critical patent/EP4428646A1/fr
Publication of EP4428646A4 publication Critical patent/EP4428646A4/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/80—Transportation hubs
    • G05D2107/84—Harbours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Economics (AREA)
  • Quality & Reliability (AREA)
  • Strategic Management (AREA)
  • Development Economics (AREA)
  • Theoretical Computer Science (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Human Resources & Organizations (AREA)
  • Finance (AREA)
  • Marketing (AREA)
  • Accounting & Taxation (AREA)
  • Operations Research (AREA)
  • Tourism & Hospitality (AREA)
  • General Business, Economics & Management (AREA)
  • Geometry (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)
EP22889882.1A 2021-11-04 2022-10-27 Dispositif d'estimation de position propre, véhicule autonome et procédé d'estimation de position propre Pending EP4428646A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021180096 2021-11-04
PCT/JP2022/040246 WO2023080062A1 (fr) 2021-11-04 2022-10-27 Dispositif d'estimation de position propre, véhicule autonome et procédé d'estimation de position propre

Publications (2)

Publication Number Publication Date
EP4428646A1 EP4428646A1 (fr) 2024-09-11
EP4428646A4 true EP4428646A4 (fr) 2025-04-09

Family

ID=86241146

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22889882.1A Pending EP4428646A4 (fr) 2021-11-04 2022-10-27 Dispositif d'estimation de position propre, véhicule autonome et procédé d'estimation de position propre

Country Status (5)

Country Link
US (1) US20240272642A1 (fr)
EP (1) EP4428646A4 (fr)
JP (1) JP7732517B2 (fr)
CN (1) CN118103789A (fr)
WO (1) WO2023080062A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6751603B2 (ja) * 2016-06-24 2020-09-09 株式会社Ｉｈｉエアロスペース コンテナターミナルシステム
WO2020239491A1 (fr) * 2019-05-29 2020-12-03 Robert Bosch Gmbh Procédé de fabrication d'une carte d'environnement pour l'utilisation lors de la navigation autonome d'un robot mobile

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005001832A (ja) * 2003-06-12 2005-01-06 Matsushita Electric Ind Co Ltd 倉庫状況管理装置およびその方法
JP2006282386A (ja) * 2005-03-31 2006-10-19 Mitsui Eng & Shipbuild Co Ltd コンテナヤードにおける設備の配置構造
JP2009169845A (ja) 2008-01-18 2009-07-30 Toyota Motor Corp 自律移動ロボット及び地図更新方法
JP5259286B2 (ja) * 2008-07-16 2013-08-07 株式会社日立製作所 ３次元物体認識システム及びそれを用いた棚卸システム
JP6141782B2 (ja) * 2014-03-12 2017-06-07 株式会社豊田自動織機 無人搬送車と在庫管理システムの連動システムにおける地図情報更新方法
CN107922119B (zh) * 2015-11-25 2020-05-29 株式会社日立制作所 货架配置系统、搬运机器人以及货架配置方法
JP7024167B2 (ja) * 2019-04-04 2022-02-24 シャンハイ クイックトロン インテリジェント テクノロジー カンパニー リミテッド ナビゲーション制御方法、スマート倉庫システム及び無人搬送車
CN110189068B (zh) * 2019-04-14 2023-11-03 炬星科技（深圳）有限公司 一种仓库快速配置方法、设备及存储介质
JP7302291B2 (ja) * 2019-05-27 2023-07-04 中国電力株式会社 物品管理システム
JP7350671B2 (ja) * 2020-02-25 2023-09-26 三菱重工業株式会社 位置推定装置、制御装置、産業用車両、物流支援システム、位置推定方法およびプログラム
JP2021180096A (ja) 2020-05-13 2021-11-18 株式会社ダイセル 二次電池用セパレータ

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6751603B2 (ja) * 2016-06-24 2020-09-09 株式会社Ｉｈｉエアロスペース コンテナターミナルシステム
WO2020239491A1 (fr) * 2019-05-29 2020-12-03 Robert Bosch Gmbh Procédé de fabrication d'une carte d'environnement pour l'utilisation lors de la navigation autonome d'un robot mobile

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2023080062A1 *

Also Published As

Publication number Publication date
WO2023080062A1 (fr) 2023-05-11
JP7732517B2 (ja) 2025-09-02
EP4428646A1 (fr) 2024-09-11
US20240272642A1 (en) 2024-08-15
CN118103789A (zh) 2024-05-28
JPWO2023080062A1 (fr) 2023-05-11

Similar Documents

Publication Publication Date Title
EP3727978C0 (fr) Procédé et système pour prédiction de commande de véhicule d'ensemble dans des véhicules à conduite autonome
EP3868610A4 (fr) Procédés et appareils d'adaptation intelligente de l'environnement de conduite et d'ouverture de session de conducteur, véhicule, et dispositif
EP4031426C0 (fr) Procédé et système pour la conduite autonome de véhicules
EP4206743A4 (fr) Procédé de positionnement de véhicule, appareil associé, dispositif et support d'enregistrement
EP3534560A4 (fr) Procédé permettant d'effectuer une demande de répétition automatique hybride (harq) pour une communication v2x dans un système de communication sans fil et appareil associé
EP3726866A4 (fr) Procédé et appareil de sélection de mode de communication, et véhicule
EP3686861A4 (fr) Procédé et appareil d'insertion de véhicules
EP3547770A4 (fr) Procédé pour exécuter une communication v2x dans un système de communication sans fil, et appareil associé
EP3696788A4 (fr) Procédé de commande de pilotage et appareil de commande de pilotage
EP3678113A4 (fr) Procédé et dispositif de commande de déplacement pour véhicule d'aide à la conduite
EP3929556C0 (fr) Procédé et appareil de test de véhicule sans pilote fondé sur un lidar
EP3932727A4 (fr) Procédé et dispositif de traitement de couple de véhicule, dispositif de commande de véhicule et véhicule
EP4129754C0 (fr) Procédé et système de route électrique permettant la distribution d'énergie électrique à des véhicules pendant le déplacement
EP3840921C0 (fr) Procédé et appareil permettant d'estimer des trajectoires d'outil
EP3700796A4 (fr) Procédés de filtrage d'obstacles pour système de planification d'évitement de collision dans un véhicule à conduite autonome
EP3574481A4 (fr) Procédé et système de diagnostic de véhicule
EP3621052C0 (fr) Procédé d'analyse du comportement routier de véhicules à moteur, dont de véhicules autonomes
EP3873128C0 (fr) Appareil et procédé de réalisation d'une communication de véhicule
EP3997528C0 (fr) Système, dispositif et procédé pour tester des véhicules autonomes
EP3491359C0 (fr) Procédé et station de contrôle de pneus pour des roues de véhicule
EP3387872A4 (fr) Procédé et appareil pour la transmission d'informations de commande sur la liaison montante dans un système de communication sans fil
DE102017009353A8 (de) Verfahren zur Ansteuerung von Fahrzeugfunktionen
EP3664307C0 (fr) Procédé et appareil de détermination de paramètres et de conditions pour une communication mimo en ligne de visée
EP4397561A4 (fr) Procédé et appareil de commande de véhicule
EP3751755C0 (fr) Appareil et procédé de guidage d'aéronefs sans pilote

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20240426

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Free format text: PREVIOUS MAIN CLASS: G05D0001020000

Ipc: G05D0001242000

A4 Supplementary search report drawn up and despatched

Effective date: 20250307

RIC1 Information provided on ipc code assigned before grant

Ipc: B65G 1/00 20060101ALI20250303BHEP

Ipc: G05D 1/698 20240101ALI20250303BHEP

Ipc: G05D 1/692 20240101ALI20250303BHEP

Ipc: G05D 1/246 20240101ALI20250303BHEP

Ipc: G05D 1/242 20240101AFI20250303BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20251008

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: G05D 1/242 20240101AFI20260121BHEP

Ipc: G05D 1/246 20240101ALI20260121BHEP

Ipc: G05D 1/692 20240101ALI20260121BHEP

Ipc: G05D 1/698 20240101ALI20260121BHEP

Ipc: B65G 1/00 20060101ALI20260121BHEP

Ipc: G01C 21/00 20060101ALI20260121BHEP

INTG Intention to grant announced

Effective date: 20260213